Main hand testing mechanism and testing method thereof

Abstract

The invention relates to a master manipulator testing mechanism and a testing method thereof. The testing mechanism comprises a mechanical arm, a testing assembly and a positioning mechanism. The testing assembly comprises a connecting assembly and a target ball array, one end of the connecting assembly is connected with the mechanical arm, and the other end is connected with the main hand. The target ball array is arranged on the connecting assembly and comprises a supporting piece and at least three target balls which are not located on the same plane, and the target balls are detachably arranged on the supporting piece. The positioning mechanism is used for recording the positions of the target balls in the target ball array. And the pose precision fed back by the master manipulator can be tested through the measuring mechanism. The feedback pose precision testing method comprises the steps that the mechanical arm drives the main hand to move, the positioning mechanism obtains the pose of the target ball array in a measurement coordinate system, and the angle of the main hand reflects the actual pose of the target ball array in the coordinate system of the main hand; and converting the pose under the measurement coordinate system into the theoretical pose under the coordinate system of the master manipulator, and comparing the actual pose with the theoretical pose, so that the pose precision fed back by the master manipulator can be directly obtained.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a master hand testing mechanism and a testing method thereof. Background Art

[0002] With the development of surgical robot technology, the laparoscopic surgical robot system includes a doctor's trolley, an operating trolley, and a visual trolley. The doctor controls the motion of the operating trolley's robotic arm (slave arm) by operating the main operator (master hand) on the doctor's trolley, thereby completing the corresponding surgical operation. The system converts the position and posture information fed back by the master hand into the motion posture of the slave arm, so that the slave arm can reproduce the doctor's operation on the master hand, giving the doctor an immersive surgical operation experience.

[0003] The feedback accuracy of the master hand is the basis for ensuring the accuracy of the master-slave operation and is an important factor affecting the surgical effect. In the related art, the test device and test method of the performance of the surgical robot generally directly control the movement of the slave arm to directly obtain the operation accuracy of the slave arm.

[0004] However, the above-mentioned testing device and testing method cannot directly obtain the feedback accuracy of the master hand itself. Summary of the invention

[0005] Based on this, it is necessary to provide a master hand testing mechanism and a testing method thereof to address the problem that the feedback accuracy of the master hand itself cannot be directly obtained in the related technology.

[0006] A master hand testing mechanism, the testing mechanism comprising:

[0007] Robotic arm;

[0008] A test assembly, comprising a connection assembly and a target ball array, wherein one end of the connection assembly is connected to the robot arm, and the other end is used to connect to the main hand, and the target ball array is arranged on the connection assembly, and the target ball array comprises a support and at least three target balls that are not in the same plane, and the target balls are detachably arranged on the support;

[0009] The positioning mechanism is used to record the position of the target balls in the target ball array.

[0010] In one embodiment, the connection assembly includes a main hand end fixing piece, an intermediate connecting piece and a robotic arm flange which are connected in sequence, the main hand end fixing piece is used to be fixedly connected to the main hand, the end of the robotic arm flange away from the intermediate connecting piece is used to be fixedly connected to the robotic arm, and the target ball array is arranged on the intermediate connecting piece.

[0011] In one embodiment, the connection assembly further includes a quick connector, and the main hand end fixing member and the intermediate connecting member are connected via the quick connector.

[0012] In one of the embodiments, the quick connect comprises a first magnet and a second magnet;

[0013] The master hand end fixing piece includes a first sleeve, the first sleeve and the first magnet are located at one end of the master hand end fixing piece close to the intermediate connecting piece, and the intermediate connecting piece includes a second sleeve, the second sleeve and the second magnet are located at one end of the intermediate connecting piece close to the master hand end fixing piece;

[0014] The first magnet and the second magnet attract each other, and the second sleeve is sleeved outside the first sleeve, or the first sleeve is sleeved outside the second sleeve.

[0015] In one embodiment, a positioning hole is provided on the intermediate connecting member;

[0016] The test assembly further comprises an array fixing piece, one end of which is provided with a positioning column, the positioning column matches with the positioning hole, and the target ball array is arranged on the array fixing piece.

[0017] In one of the embodiments, the testing mechanism further includes a force sensor, which can be selectively arranged between the intermediate connecting member and the robot arm flange, or arranged at an end of the main hand end fixing member away from the intermediate connecting member.

[0018] In one of the embodiments, the intermediate connecting member has a third plane, and a normal vector of the third plane is the same as an X direction of the force sensor.

[0019] In one embodiment, the support member includes at least four support rods extending from a central position in different directions, and any three of the at least four support rods are not coplanar, and the target balls are one-to-one and detachably arranged at the ends of the support rods away from the central position.

[0020] A testing method using the above-mentioned master hand testing mechanism, the testing method comprising a posture accuracy testing method of master hand feedback, the posture accuracy testing method of master hand feedback comprising the following steps:

[0021] Install at least three target balls that are not in the same plane on the target ball array;

[0022] The main hand and the target ball array are driven to move by a mechanical arm;

[0023] The position of the target ball is collected by a positioning mechanism, and the position Tc of the target ball array in the measurement coordinate system is determined;

[0024] Converting the position and posture of the target ball array in the measurement coordinate system into a theoretical position and posture Tm′ in the master hand coordinate system;

[0025] Collect the joint angles fed back by the master hand to determine the actual position Tm of the target ball array in the master hand coordinate system;

[0026] The actual posture Tm is compared with the theoretical posture Tm′ to obtain the posture accuracy of the master hand feedback.

[0027] In one embodiment, the specific steps of converting the position and posture of the target ball array in the measurement coordinate system into the theoretical position and posture in the master hand coordinate system include:

[0028] Get the transformation matrix T between the master hand coordinate system and the measurement coordinate system;

[0029] The theoretical position in the master hand coordinate system is Tm′=Tc×T.

[0030] A test method using the above-mentioned master hand test mechanism, characterized in that the test method includes a master hand feedback trajectory accuracy test method, and the master hand feedback trajectory accuracy test method includes the following steps:

[0031] Installing at least three target balls that are not in the same plane on the target ball array;

[0032] The main hand and the target ball array are driven to move by the mechanical arm;

[0033] The position of the target ball is collected by the positioning mechanism, and the trajectory Lc of the target ball array in the measurement coordinate system is determined;

[0034] Convert the trajectory of the target ball array in the measurement coordinate system into a theoretical trajectory Lm′ in the master hand coordinate system;

[0035] Collect the joint angles fed back by the master hand to determine the actual trajectory Lm of the target ball array in the master hand coordinate system;

[0036] The actual trajectory Lm is compared with the theoretical trajectory Lm′ to obtain the trajectory accuracy of the master hand feedback.

[0037] A test method by a master hand test mechanism, characterized in that the test method includes a master hand zero-force dragging performance test method, and the master hand zero-force dragging performance test method includes the following steps:

[0038] Installing the force sensor between the intermediate connecting piece and the robot arm flange;

[0039] The master hand is driven by the mechanical arm to move along a predetermined trajectory to collect a reading Fi of a force sensor;

[0040] The force sensor is mounted on an end of the main hand end fixing member away from the middle connecting member;

[0041] The master hand is driven by the mechanical arm to move along the predetermined trajectory, and a reading Fi′ of the force sensor is collected;

[0042] Fi is compared with Fi′ to obtain the zero-force dragging accuracy of the master hand.

[0043] The above-mentioned master hand testing mechanism and testing method can determine a coordinate system through at least three target balls that are not in the same plane. The target ball array is set on the connecting component, that is, the target ball array is set between the master hand and the mechanical arm, so that the target ball array is directly connected to the master hand, so as to facilitate the direct conversion of the master hand coordinate system and the measurement coordinate system, and to facilitate the calculation of the measurement accuracy of the master hand posture. When the feedback posture accuracy of the master hand is detected, the master hand is driven to move by the mechanical arm. In this process, the posture Tc of the target ball array in the measurement coordinate system is directly obtained through the positioning mechanism, and the actual posture Tm of the target ball array in the master hand coordinate system is obtained through the angle of the master hand; the posture Tc in the measurement coordinate system is converted to the theoretical posture Tm′ in the master hand coordinate system, and the actual posture Tm is compared with the theoretical posture Tm′, that is, the posture accuracy of the master hand feedback can be directly obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 Schematic diagram of the structure of the master hand testing mechanism in one embodiment.

[0045] Figure 2 Schematic diagram of the structure of a connecting component in one embodiment.

[0046] Figure 3 Schematic diagram of the structure of the main hand end fixing part in one embodiment.

[0047] Figure 4 Schematic diagram of the structure of the intermediate connecting member in one embodiment.

[0048] Figure 5 Schematic diagram of the structure of an array fixing member in one embodiment.

[0049] Figure 6 Schematic diagram of the structure of a support member in one embodiment.

[0050] Reference numerals: 100, main hand;

[0051] 200. Robotic arm;

[0052] 300, connecting component; 310, main hand end fixing piece; 311, first sleeve; 3111, first plane; 3112, first screw hole; 312, third screw hole; 320, intermediate connecting piece; 321, second sleeve; 3211, second plane; 3212, second screw hole; 322, fourth screw hole; 323, third plane; 3231, positioning hole; 330, mechanical arm flange;

[0053] 400, test assembly; 410, target ball array; 411, support member; 420, array fixing member; 421, chassis; 4211, positioning column; 422, column; 430, positioning mechanism;

[0054] 500. Force sensor. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0056] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0057] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0059] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0061] See also Figure 1 and Figure 2 ,,The master hand test mechanism provided in one embodiment of the present application includes a mechanical arm 200, a test assembly 400 and a positioning mechanism 430. The test assembly 400 includes a connection assembly 300 and a target ball array 410. One end of the connection assembly 300 is connected to the mechanical arm 200, and the other end is connected to the master hand 100. The target ball array 410 is arranged on the connection assembly 300. The target ball array 410 includes a support member 411 and at least three target balls that are not in the same plane. The target balls are detachably arranged on the support member 411. The positioning mechanism 430 is used to record the positions of the target balls in the target ball array 410.

[0062] In this embodiment, a coordinate system can be determined by at least three target balls that are not in the same plane. The target ball array is set on the connecting component, that is, the target ball array is set between the master hand 100 and the mechanical arm 200, so that the target ball array is directly connected to the master hand 100, so as to facilitate the direct conversion of the master hand coordinate system and the measurement coordinate system, and to facilitate the calculation of the posture of the master hand 100. When the feedback posture accuracy of the master hand 100 is detected, the master hand 100 is driven to move by the mechanical arm 200. In this process, the posture Tc of the target ball array in the measurement coordinate system is directly obtained by the positioning mechanism 430, and the actual posture Tm of the target ball array in the master hand coordinate system is obtained by the angle change of the master hand 100; the posture Tc in the measurement coordinate system is converted to the theoretical posture Tm′ in the master hand coordinate system, and the actual posture Tm is compared with the theoretical posture Tm′, that is, the posture accuracy of the feedback of the master hand 100 can be directly obtained. The measurement coordinate system is the coordinate system where the positioning mechanism is located.

[0063] It should be noted that the positioning mechanism 430 can be a laser tracker, an infrared positioner, a radar positioner, an ultrasonic positioner, etc., and the target ball is a target object corresponding to the positioning mechanism 430. For example, when the positioning mechanism 430 is a laser tracker, the target ball is a reflector. The end of the master hand 100 away from the connection component 300 is fixed to the trolley in the form of a cantilever beam, which is consistent with the installation method of the master hand 100 on the actual trolley.

[0064] In some embodiments, the connection assembly 300 includes a main hand end fixing member 310, an intermediate connecting member 320 and a robotic arm flange 330 connected in sequence, the main hand end fixing member 310 is used to be fixedly connected to the main hand 100, and the end of the robotic arm flange 330 away from the intermediate connecting member 320 is used to be fixedly connected to the robotic arm 200, and the target ball array 410 is arranged on the intermediate connecting member 320.

[0065] In this embodiment, one end of the connection assembly 300 is connected to the master hand 100 through the master hand end fixture 310, and the other end of the connection assembly 300 is connected to the robot arm 200 through the robot arm flange 330, thereby realizing the connection between the master hand 100 and the robot arm 200. At the same time, the target ball array 410 is connected to the master hand end fixture 310 through the intermediate connection piece 320, so that the target ball array 410 and the master hand end fixture 310 are always in a fixed relative position, thereby facilitating the conversion between the master hand coordinate system and the measurement coordinate system.

[0066] In one embodiment, the connection component 300 also includes a quick connector, and the main hand end fixing member 310 and the intermediate connecting member 320 are connected by the quick connector, that is, the main hand end fixing member 310 and the intermediate connecting member 320 can be quickly connected, which facilitates the rapid adjustment of the dragging posture.

[0067] See also Figure 3 and Figure 4 Further, the quick connector includes a first magnet and a second magnet. The main hand end fixing part 310 includes a first sleeve 311, the first sleeve 311 and the first magnet are located at one end of the main hand end fixing part 310 close to the intermediate connecting part 320, and the intermediate connecting part 320 includes a second sleeve 321, and the second sleeve 321 and the second magnet are located at one end of the intermediate connecting part 320 close to the main hand end fixing part 310. The first magnet and the second magnet attract each other, and the second sleeve 321 is sleeved outside the first sleeve 311, or the first sleeve 311 is sleeved outside the second sleeve 321.

[0068] In this embodiment, a third screw hole 312 is provided at one end of the main hand terminal fixing member 310 close to the intermediate connecting member 320, and the first magnet is threadedly connected to the third screw hole 312. A fourth screw hole 322 is provided at one end of the intermediate connecting member 320 close to the end of the main hand 100, and the second magnet is threadedly connected to the fourth screw hole 322. The first magnet and the second magnet are used to realize the rapid docking of the main hand terminal fixing member 310 and the intermediate connecting member 320. When the first magnet and the second magnet are attracted to each other, the second sleeve 321 is sleeved outside the first sleeve 311, so as to prevent the influence of gravity on the attraction force of the first magnet and the second magnet.

[0069] At the same time, the first sleeve 311 and the second sleeve 321 are arranged in a mutually sleeved manner, which can ensure that the main hand end fixing piece 310 and the intermediate connecting piece 320 are arranged coaxially, thereby improving the connection accuracy between the main hand end fixing piece 310 and the intermediate connecting piece 320, and facilitating improving the test accuracy of the main hand 100 test mechanism.

[0070] In another embodiment, on the basis of the rapid attraction of the first magnet and the second magnet between the end fixing piece 310 of the master hand and the intermediate connecting piece 320, the end fixing piece 310 of the master hand and the intermediate connecting piece 320 can be further fixedly connected by screws. The screws are used to prevent the relative rotation between the end fixing piece 310 of the master hand and the intermediate connecting piece 320.

[0071] In other embodiments, the main hand end fixing piece 310 and the intermediate connecting piece 320 are directly fixedly connected by screws.

[0072] Specifically, the specific structure in which the main hand end fixing piece 310 and the intermediate connecting piece 320 are fixedly connected by screws is as shown in the embodiment.

[0073] In some embodiments, the main hand end fixing member 310 includes a first sleeve 311, and the intermediate connecting member 320 includes a second sleeve 321. The second sleeve 321 is sleeved outside the first sleeve 311, and the outer wall of the first sleeve 311 has a first plane 3111, and the first plane 3111 is provided with a first screw hole 3112 that passes through the side wall of the first sleeve 311. The inner wall of the second sleeve 321 has a second plane 3211, and the second plane 3211 is provided with a second screw hole 3212 that passes through the side wall of the second sleeve 321. The first plane 3111 fits with the second plane 3211, and the first screw hole 3112 and the second screw hole 3212 are equal in size and are located on the same axis.

[0074] In this embodiment, a first screw hole 3112 is opened on the first plane 3111 and passes through the side wall of the first sleeve 311, and a second screw hole 3212 is opened on the second plane 3211 and passes through the side wall of the second sleeve 321. When the second sleeve 321 is sleeved outside the first sleeve 311, the first plane 3111 and the second plane 3211 are in contact with each other. At this time, the positions of the first screw hole 3112 and the second screw hole 3212 correspond to each other. Since the first screw hole 3112 and the second screw hole 3212 are equal in size and are located on the same axis, screws can be passed through the first screw hole 3112 and the second screw hole 3212 at the same time, so that the second sleeve 321 and the first sleeve 311 are fixed, and then the main hand end fixing piece 310 and the intermediate connecting piece 320 are fixed.

[0075] In some other embodiments, the main hand end fixing member 310 includes a first sleeve 311, and the intermediate connecting member 320 includes a second sleeve 321. The first sleeve 311 is sleeved outside the second sleeve 321, and the inner wall of the first sleeve 311 has a first plane 3111, and the first plane 3111 is provided with a first screw hole 3112 that passes through the side wall of the first sleeve 311. The outer wall of the second sleeve 321 has a second plane 3211, and the second plane 3211 is provided with a second screw hole 3212 that passes through the side wall of the second sleeve 321. The first plane 3111 fits the second plane 3211, and the first screw hole 3112 and the second screw hole 3212 are equal in size and are located on the same axis.

[0076] In this embodiment, when the first sleeve 311 is sleeved outside the second sleeve 321, the first plane 3111 and the second plane 3211 are in contact with each other. At this time, the positions of the first screw hole 3112 and the second screw hole 3212 correspond to each other. A screw can be passed through the first screw hole 3112 and the second screw hole 3212 at the same time to fix the first sleeve 311 and the second sleeve 321, thereby fixing the main hand end fixing piece 310 and the intermediate connecting piece 320.

[0077] See also Figure 5In some embodiments, a positioning hole 3231 is provided on the intermediate connector 320. The test assembly 400 further includes an array fixture 420, one end of which is provided with a positioning post 4211, which cooperates with the positioning hole 3231, and the target ball array 410 is provided on the array fixture 420.

[0078] In this embodiment, the installation accuracy of the target ball array 410 and the array fixture 420 is improved by the quick cooperation between the positioning column 4211 and the positioning hole 3231, which is beneficial to improving the accuracy of the test mechanism of the master hand 100. Specifically, the array fixture 420 includes a chassis 421 and a column 422 arranged on the chassis 421, and the positioning column 4211 is arranged at one end of the chassis 421 away from the column 422. When the chassis 421 and the intermediate connecting member 320 are positioned, the chassis 421 and the intermediate connecting member 320 can be fixedly connected by screws.

[0079] In some embodiments, the testing mechanism further includes a force sensor 500 , which can be selectively disposed between the intermediate connecting member 320 and the robot arm flange 330 , or disposed at an end of the main hand end fixing member 310 away from the intermediate connecting member 320 .

[0080] In this embodiment, when the zero-force dragging performance of the master hand 100 is tested, the force sensor 500 may be first installed between the intermediate connecting piece 320 and the robot arm flange 330, and the robot arm 200 may be used to drive the master hand 100 to move along a predetermined trajectory, and collect the reading Fi of the force sensor 500; then, the force sensor 500 may be installed at the end of the master hand terminal fixing piece 310 away from the intermediate connecting piece 320, and the robot arm 200 may be used to drive the master hand 100 to move along a predetermined trajectory, and collect the reading Fi′ of the force sensor 500; finally, Fi is compared with Fi′ to obtain the zero-force dragging accuracy of the master hand 100.

[0081] The mechanical arm flange 330 has two mounting holes in opposite directions, and the force sensor 500 and the end of the mechanical arm 200 are respectively connected to the mechanical arm flange 330 by screws.

[0082] Further, the intermediate connection member 320 has a third plane 323, and the positioning hole 3231 is arranged on the third plane 323. The force sensor 500 is arranged between the intermediate connection member 320 and the robot flange 330, and the normal vector of the third plane 323 is the same as the X direction of the force sensor 500.

[0083] During actual installation, the X direction of the force sensor 500 is vertically upward. By placing an inclinometer on the third plane 323, it can be ensured that the X direction of the force sensor 500 is parallel to the direction of gravity, so that the measurement direction of the force sensor 500 is consistent with the force in the direction required by the master hand 100, so as to enhance the measurement accuracy of the force sensor 500, and further improve the test accuracy of the zero-force dragging performance of the master hand 100 through the master hand 100 testing mechanism.

[0084] It should be noted that the positioning hole 3231 is located on the third plane 323, and the wall surface of the chassis 421 on which the positioning column 4211 is provided is also a planar structure, that is, the array fixing member 420 is connected to the intermediate connecting member 320 through a plane, thereby enhancing the connection strength and stability between the two, and preventing relative displacement between the array fixing member 420 and the intermediate connecting member 320, which affects the test accuracy.

[0085] See also Figure 6 In some embodiments, the target ball array 410 includes a support member 411 and a target ball, the support member 411 includes at least four support rods extending from a central position in different directions, and any three of the at least four support rods are not coplanar, and the target ball is detachably arranged at the end of the support rod away from the central position.

[0086] In this embodiment, the center of the support member 411 is fixedly connected to the end of the column 422 away from the chassis 421 by screws. The target ball is detachably arranged on the support rod by screws or buckles. Any three support rods among the support rods are not coplanar so that the three target balls on them determine a measurement coordinate system, and the other target balls are used to verify the accuracy of the target ball array 410.

[0087] An embodiment of the present application further provides a test method of a master hand test mechanism, the test method including a posture accuracy test method of feedback from the master hand 100, the posture accuracy test method of feedback from the master hand 100 including the following steps:

[0088] At least three target balls that are not in the same plane are installed on the target ball array 410;

[0089] The main hand 100 and the target ball array 410 are driven to move by the mechanical arm 200;

[0090] The position of the target ball is collected by the positioning mechanism 430, and the position Tc of the target ball array 410 in the measurement coordinate system is determined;

[0091] Convert the position Tc of the target ball array 410 in the measurement coordinate system to a theoretical position Tm′ in the master hand coordinate system;

[0092] Collect the joint angles fed back by the master hand 100 to determine the actual position Tm of the target ball array 410 in the master hand coordinate system;

[0093] The actual posture Tm is compared with the theoretical posture Tm′ to obtain the posture accuracy of the master hand 100 feedback.

[0094] The method for acquiring the pose Tc of the target ball array 410 in the measurement coordinate system and the pose Tm of the target ball array 410 in the master hand coordinate system is as follows: install three target balls on the target ball array 410, control the robot arm 200 to drag the master hand 100 to move to 5 precision test poses in the workspace (where the specific positions of the precision test poses are the prior art), and repeat the movement 30 times. The pose Tc of the target ball array 410 in the measurement coordinate system is determined by the acquired target ball positions, and the pose Tm of the target ball array 410 in the master hand coordinate system is determined by the acquired joint angles fed back by the master hand 100.

[0095] In this embodiment, during the test, the master hand 100 is dragged and moved by the external mechanical arm 200, so that the test environment is consistent with the actual use scenario of the master hand 100, so as to increase the validity of the test results. At the same time, the above method can directly obtain the posture accuracy of the master hand 100 feedback, which is convenient for further improving the operation accuracy of the master hand 100, thereby improving the surgical effect.

[0096] Furthermore, the specific steps of converting the posture of the target ball array 410 in the measurement coordinate system into the theoretical posture in the master hand coordinate system include: obtaining the transformation matrix T between the master hand coordinate system and the measurement coordinate system; theoretical posture Tm′=Tc×T.

[0097] Specifically, the method for obtaining the transformation matrix T between the master hand coordinate system and the measurement coordinate system includes the following steps:

[0098] The positioning mechanism 430 is arranged on one side of the master hand 100, and a target ball is fixed on the target ball array 410;

[0099] Control the robot arm 200 to drag the main hand 100 to move to 10 points at the extreme positions of the workspace, ensure that the target balls at all points are not lost, record the angle of the main hand 100, and collect the position of the target ball through the positioning mechanism 430; (the specific positions of the 10 points are prior art and will not be described in detail here)

[0100] The coordinate system calibration is completed according to the position of the master hand 100 and the measurement position of the target ball by the positioning mechanism 430. The transformation matrix T between the master hand coordinate system and the measurement coordinate system can be determined by the following algorithm:

[0101] The transformation matrix between the master hand coordinate system and the measurement coordinate system is composed of the rotation matrix R and the translation matrix t;

[0102] Suppose two point sets are P A and P B , there are N groups of corresponding data, and the point sets P are calculated respectivelyA and P B Center point:

[0103]

[0104]

[0105] Calculate the point set P A and P B The covariance matrix H of is:

[0106]

[0107] where β A and β B They are μ A and μ B The N-dimensional expanded matrix.

[0108] Perform SVD decomposition on the covariance matrix and calculate the rotation matrix R between the two point sets:

[0109] [U,S,V]=SVD(H)

[0110] R=VU T

[0111] The translation matrix t is obtained by the rotation matrix R:

[0112] t=-R×μ A +μ B

[0113] An embodiment of the present application further provides a master hand 100 testing method, the testing method including a trajectory accuracy testing method of the master hand 100 feedback, the trajectory accuracy testing method of the master hand 100 feedback including the following steps:

[0114] At least three target balls that are not in the same plane are installed on the target ball array 410;

[0115] The main hand 100 and the target ball array 410 are driven to move by the mechanical arm 200;

[0116] The position of the target ball is collected by the positioning mechanism 430, and the trajectory Lc of the target ball array 410 in the measurement coordinate system is determined;

[0117] Convert the trajectory Lc of the target ball array 410 in the measurement coordinate system into a theoretical trajectory Lm′ in the master hand coordinate system;

[0118] Collect the joint angles fed back by the master hand 100 to determine the actual trajectory Lm of the target ball array 410 in the master hand coordinate system;

[0119] The actual trajectory Lm is compared with the theoretical trajectory Lm′ to obtain the trajectory accuracy of the master hand 100 feedback.

[0120] The theoretical trajectory of the target ball array 410 in the master hand coordinate system is Lm′=Lc×T. That is, the master hand 100 testing mechanism of the present application can also directly measure the trajectory accuracy testing method of the master hand feedback, so as to further improve the operation accuracy of the master hand 100 and thus improve the surgical effect.

[0121] An embodiment of the present application further provides a method for testing the feedback accuracy of a master hand 100. The method for testing the feedback accuracy of a master hand 100 includes a method for testing the force feedback accuracy of a master hand 100. The method for testing the force feedback accuracy of a master hand 100 includes the following steps: first, connect the intermediate connector 320 and the robot arm flange 330, send feedback force and feedback torque instructions to the master hand 100 through software, read the reading of the force sensor 500, and compare the reading of the force sensor 500 with the feedback force and feedback torque to obtain the force feedback accuracy of the master hand 100.

[0122] In this embodiment, during the master-slave operation, when the mechanical arm 200 moves to the boundary position, the master hand 100 can prompt the user by providing feedback force and torque. Therefore, it is necessary to test the force feedback accuracy of the master hand 100 to ensure that the feedback force and torque provided by the master hand 100 are correct. The force sensor 500 can be a six-dimensional force sensor 500. When the force sensor 500 is installed, the X direction of the force sensor 500 should be kept the same as the normal vector of the third plane 323, so as to ensure that the direction of the force sensor 500 coordinate system is parallel to the direction of the master hand coordinate system, that is, the force sensor 500 can accurately reflect the force feedback accuracy of the master hand 100 in different directions.

[0123] An embodiment of the present application further provides a master hand 100 testing method, the testing method including a master hand 100 zero-force dragging performance testing method, the master hand 100 zero-force dragging performance testing method including the following steps:

[0124] The force sensor 500 is installed at an end of the robot arm 200 away from the main hand 100;

[0125] The robot arm 200 drives the master hand 100 to move along a predetermined trajectory to collect the reading Fi of the force sensor 500;

[0126] The force sensor 500 is installed between the master hand 100 and the robot arm 200;

[0127] The robot arm 200 drives the master hand 100 to move along a predetermined trajectory to collect the reading Fi′ of the force sensor 500;

[0128] Compare Fi with Fi′ to obtain 100% zero-force drag accuracy of the master hand.

[0129] In this embodiment, in the zero-force mode of the master hand 100, the gravity, friction and inertia of the master hand 100 can be compensated by the motor output torque, so that the doctor will not feel resistance when dragging the master hand 100, reducing the fatigue of the operator. By testing the performance of the master hand 100 in the zero-force mode, the accuracy of the motor torque compensation can be improved to enhance the comfort of the operator.

[0130] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A master hand (100) testing mechanism, characterized in that: The testing organization includes: Robotic Arm (200); A test assembly (400) comprises a connection assembly (300) and a target ball array (410), wherein one end of the connection assembly (300) is connected to the mechanical arm (200), and the other end is used to connect to the master hand (100), and the target ball array (410) is arranged on the connection assembly (300), and the target ball array (410) comprises a support member (411) and at least three target balls that are not in the same plane, and the target balls are detachably arranged on the support member (411); The positioning mechanism (430) is used to record the position of the target balls in the target ball array (410).

2. The master hand (100) testing mechanism according to claim 1, characterized in that: The connection assembly (300) comprises a main hand end fixing member (310), an intermediate connecting member (320) and a mechanical arm flange (330) which are connected in sequence, wherein the main hand end fixing member (310) is used for fixed connection with the main hand (100), and an end of the mechanical arm flange (330) away from the intermediate connecting member (320) is used for fixed connection with the mechanical arm (200), and the target ball array (410) is arranged on the intermediate connecting member (320).

3. The master hand (100) testing mechanism according to claim 2, characterized in that: The connection assembly (300) further comprises a quick-connection piece, and the main hand end fixing piece (310) and the intermediate connecting piece (320) are connected via the quick-connection piece.

4. The master hand (100) testing mechanism according to claim 3, characterized in that: The quick connector includes a first magnet and a second magnet; The master hand end fixing piece (310) comprises a first sleeve (311), wherein the first sleeve (311) and the first magnet are located at one end of the master hand end fixing piece (310) close to the intermediate connecting piece (320), and the intermediate connecting piece (320) comprises a second sleeve (321), wherein the second sleeve (321) and the second magnet are located at one end of the intermediate connecting piece (320) close to the master hand end fixing piece (310); The first magnet and the second magnet attract each other, and the second sleeve (321) is sleeved outside the first sleeve (311), or the first sleeve (311) is sleeved outside the second sleeve (321).

5. The master hand (100) testing mechanism according to claim 2, characterized in that: The intermediate connecting member (320) is provided with a positioning hole (3231); The test assembly (400) further comprises an array fixture (420), one end of which is provided with a positioning column (4211), the positioning column (4211) being matched with the positioning hole (3231), and the target ball array (410) is arranged on the array fixture (420).

6. The master hand (100) testing mechanism according to claim 2, characterized in that: The testing mechanism also includes a force sensor (500), which can be selectively arranged between the intermediate connecting member (320) and the mechanical arm flange (330), or arranged at an end of the main hand end fixing member (310) away from the intermediate connecting member (320).

7. The master hand (100) testing mechanism according to claim 6, characterized in that: The intermediate connecting member (320) has a third plane (323), and a normal vector of the third plane (323) is the same as an X direction of the force sensor (500).

8. The master hand (100) testing mechanism according to claim 1, characterized in that: The support member (411) comprises at least four support rods extending from a central position in different directions, and any three of the at least four support rods are not coplanar, and the target balls are detachably arranged at the ends of the support rods away from the central position in a one-to-one correspondence.

9. A testing method using the master hand (100) testing mechanism according to any one of claims 1 to 8, characterized in that: The testing method comprises a posture accuracy testing method based on feedback from a master hand (100), and the posture accuracy testing method based on feedback from the master hand (100) comprises the following steps: Installing at least three target balls that are not in the same plane on the target ball array (410); The main hand (100) and the target ball array (410) are driven to move by a mechanical arm (200); The position of the target ball is collected by a positioning mechanism (430), and the position and posture Tc of the target ball array (410) in the measurement coordinate system is determined; Converting the position and posture of the target ball array (410) in the measurement coordinate system into a theoretical position and posture Tm′ in the master hand coordinate system; Collecting the joint angles fed back by the master hand (100) to determine the actual position Tm of the target ball array (410) in the master hand coordinate system; The actual posture Tm is compared with the theoretical posture Tm′ to obtain the posture accuracy of the master hand (100) feedback.

10. The method for testing the feedback accuracy of the master hand (100) according to claim 9, characterized in that: The specific steps of converting the position and posture of the target ball array (410) in the measurement coordinate system into a theoretical position and posture in the master hand coordinate system include: Get the transformation matrix T between the master hand coordinate system and the measurement coordinate system; The theoretical position in the master hand coordinate system is Tm′=Tc×T.

11. A testing method using the master hand (100) testing mechanism according to any one of claims 1 to 8, characterized in that: The testing method comprises a trajectory accuracy testing method fed back by a master hand (100), and the trajectory accuracy testing method fed back by the master hand (100) comprises the following steps: Installing at least three target balls that are not in the same plane on the target ball array (410); The main hand (100) and the target ball array (410) are driven to move by the mechanical arm (200); The position of the target ball is collected by the positioning mechanism (430), and the trajectory Lc of the target ball array (410) in the measurement coordinate system is determined; Converting the trajectory of the target ball array (410) in the measurement coordinate system into a theoretical trajectory Lm′ in the master hand coordinate system; Collecting the joint angle fed back by the master hand (100) to determine the actual trajectory Lm of the target ball array (410) in the master hand coordinate system; The actual trajectory Lm is compared with the theoretical trajectory Lm′ to obtain the trajectory accuracy of the master hand (100) feedback.

12. A testing method using the master hand (100) testing mechanism according to claim 6 or 7, characterized in that: The test method comprises a master hand (100) zero-force dragging performance test method, and the master hand (100) zero-force dragging performance test method comprises the following steps: Installing the force sensor (500) between the intermediate connecting piece (320) and the mechanical arm flange (330); The robot arm (200) drives the master hand (100) to move along a predetermined trajectory, and collects a reading Fi of a force sensor (500); The force sensor (500) is mounted on one end of the main hand end fixing member (310) away from the middle connecting member (320); The master hand (100) is driven by the mechanical arm (200) to move along the predetermined trajectory, and a reading Fi′ of the force sensor (500) is collected; Fi is compared with Fi′ to obtain the zero-force dragging accuracy of the master hand (100).

Images